DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김홍준 | ko |
dc.contributor.author | 김병국 | ko |
dc.date.accessioned | 2020-01-16T05:20:10Z | - |
dc.date.available | 2020-01-16T05:20:10Z | - |
dc.date.created | 2020-01-15 | - |
dc.date.created | 2020-01-15 | - |
dc.date.issued | 2019-08 | - |
dc.identifier.citation | 제어.로봇.시스템학회 논문지, v.25, no.10, pp.885 - 890 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | http://hdl.handle.net/10203/271306 | - |
dc.description.abstract | The minimum-energy multi-section trajectory was generated for holonomic robots. First, minimum-energy trajectory planning on a section for various constraints was performed using the optimal control theory, dynamic models, and a cost function, which represent the energy drawn from the battery. Then, two novel strategies were established to formulate a minimum-energy, multi-section trajectory generation algorithm. Through these strategies on loop arrangement considering the computational load of each trajectory generation algorithm on a section, unknown variables for a multi-section could be found within a practical execution time. The generated trajectory for logistics robots saved 7.18% energy compared with the conventional trajectory using the trapezoidal velocity profile. Further, the actual performance was shown using the resolved-acceleration controller, which was implemented in the preliminary research. | - |
dc.language | Korean | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.title | Minimum-energy multi-section transport trajectory planning for holonomic logistics robots | - |
dc.title.alternative | 홀로노믹 물류로봇의 다 구간 최소 에너지 수송경로 생성 | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-85077966458 | - |
dc.type.rims | ART | - |
dc.citation.volume | 25 | - |
dc.citation.issue | 10 | - |
dc.citation.beginningpage | 885 | - |
dc.citation.endingpage | 890 | - |
dc.citation.publicationname | 제어.로봇.시스템학회 논문지 | - |
dc.identifier.doi | 10.5302/J.ICROS.2019.19.0156 | - |
dc.identifier.kciid | ART002512648 | - |
dc.contributor.localauthor | 김병국 | - |
dc.contributor.nonIdAuthor | 김홍준 | - |
dc.description.isOpenAccess | N | - |
dc.subject.keywordAuthor | trajectory planning | - |
dc.subject.keywordAuthor | minimum-energy control | - |
dc.subject.keywordAuthor | holonomic robots | - |
dc.subject.keywordAuthor | logistics robots | - |
dc.subject.keywordAuthor | . | - |
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